/*
* @File Name iK.h
* @File Path M:\MAS2\PRM_Robotic_Arm\PRMCcode\coding\iK\iK.h
* @Author: Ruige_Lee
* @Date:   2019-05-09 20:59:42
* @Last Modified by:   Ruige_Lee
* @Last Modified time: 2019-05-19 15:03:43
* @Email: 295054118@whut.edu.cn
* @page: https://whutddk.github.io/
*/



#include <stdint.h>
#include "stepper/steppers.h"

extern double ik_aimRotation[3][3];
extern float ik_aimConfig[6];

// extern void ik_solve(double* aim_toolPos);
extern int32_t ik_checkIn(uint8_t robot, float *startPose, float *endPose, uint16_t step);
extern void ik_fkCheck(uint8_t robot,float *FK);




